An artificial neural network approach for motion coordination of hyper-redundant articulated systems

In this article an Artificial Neural Network (ANN) approach for the motion coordination of hyper- redundant systems is presented. In particular, the approach is exemplified for the posture optimization of articulated systems under a framework conducing to the fast/efficient computation of an under-laying inverse continuous time-variant function. The ANN approach consists on the fast computation of the inverse function and an associated null space vector derived from also some novel geometrical concepts.